// Copyright 2019 ETH Zürich, Thomas Schöps
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// 1. Redistributions of source code must retain the above copyright notice,
//    this list of conditions and the following disclaimer.
//
// 2. Redistributions in binary form must reproduce the above copyright notice,
//    this list of conditions and the following disclaimer in the documentation
//    and/or other materials provided with the distribution.
//
// 3. Neither the name of the copyright holder nor the names of its contributors
//    may be used to endorse or promote products derived from this software
//    without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.

#pragma once

#include <libvis/libvis.h>

#include "camera_calibration/models/central_generic.h"
#include "camera_calibration/models/central_opencv.h"
#include "camera_calibration/models/central_radial.h"
#include "camera_calibration/models/central_thin_prism_fisheye.h"
#include "camera_calibration/models/noncentral_generic.h"

namespace vis {

// TODO: Once we use C++2a, change these macros to proper functions to be
//       used together with lambdas using the new "Familiar template syntax for
//       generic lambdas" feature (if it is possible to call the lambda with
//       template parameters only).

#define IDENTIFY_CAMERA_MODEL(object, ...)                                   \
  {                                                                          \
    if ((object).type() == CameraModel::Type::CentralGeneric) {              \
      typedef CentralGenericModel _##object##_type;                          \
      _##object##_type& _##object =                                          \
          static_cast<_##object##_type&>(object);                            \
      (void)_##object;                                                       \
      __VA_ARGS__;                                                           \
    } else if ((object).type() == CameraModel::Type::NoncentralGeneric) {    \
      typedef NoncentralGenericModel _##object##_type;                       \
      _##object##_type& _##object =                                          \
          static_cast<_##object##_type&>(object);                            \
      (void)_##object;                                                       \
      __VA_ARGS__;                                                           \
    } else if ((object).type() == CameraModel::Type::CentralRadial) {        \
      typedef CentralRadialModel _##object##_type;                           \
      _##object##_type& _##object =                                          \
          static_cast<_##object##_type&>(object);                            \
      (void)_##object;                                                       \
      __VA_ARGS__;                                                           \
    } else if ((object).type() == CameraModel::Type::CentralThinPrismFisheye) { \
      typedef CentralThinPrismFisheyeModel _##object##_type;                 \
      _##object##_type& _##object =                                          \
          static_cast<_##object##_type&>(object);                            \
      (void)_##object;                                                       \
      __VA_ARGS__;                                                           \
    } else if ((object).type() == CameraModel::Type::CentralOpenCV) {        \
      typedef CentralOpenCVModel _##object##_type;                           \
      _##object##_type& _##object =                                          \
          static_cast<_##object##_type&>(object);                            \
      (void)_##object;                                                       \
      __VA_ARGS__;                                                           \
    } else {                                                                 \
      LOG(FATAL) << "IDENTIFY_CAMERA_MODEL() encountered an invalid type: " << static_cast<int>((object).type()); \
    }                                                                        \
  }

#define IDENTIFY_CONST_CAMERA_MODEL(object, ...)                             \
  {                                                                          \
    if ((object).type() == CameraModel::Type::CentralGeneric) {              \
      typedef CentralGenericModel _##object##_type;                          \
      const _##object##_type& _##object =                                    \
          static_cast<const _##object##_type&>(object);                      \
      (void)_##object;                                                       \
      __VA_ARGS__;                                                           \
    } else if ((object).type() == CameraModel::Type::NoncentralGeneric) {    \
      typedef NoncentralGenericModel _##object##_type;                       \
      const _##object##_type& _##object =                                    \
          static_cast<const _##object##_type&>(object);                      \
      (void)_##object;                                                       \
      __VA_ARGS__;                                                           \
    } else if ((object).type() == CameraModel::Type::CentralRadial) {        \
      typedef CentralRadialModel _##object##_type;                           \
      const _##object##_type& _##object =                                    \
          static_cast<const _##object##_type&>(object);                      \
      (void)_##object;                                                       \
      __VA_ARGS__;                                                           \
    } else if ((object).type() == CameraModel::Type::CentralThinPrismFisheye) { \
      typedef CentralThinPrismFisheyeModel _##object##_type;                 \
      const _##object##_type& _##object =                                    \
          static_cast<const _##object##_type&>(object);                      \
      (void)_##object;                                                       \
      __VA_ARGS__;                                                           \
    } else if ((object).type() == CameraModel::Type::CentralOpenCV) {        \
      typedef CentralOpenCVModel _##object##_type;                           \
      const _##object##_type& _##object =                                    \
          static_cast<const _##object##_type&>(object);                      \
      (void)_##object;                                                       \
      __VA_ARGS__;                                                           \
    } else {                                                                 \
      LOG(FATAL) << "IDENTIFY_CAMERA_MODEL() encountered an invalid type: " << static_cast<int>((object).type()); \
    }                                                                        \
  }

#define IDENTIFY_CAMERA_MODEL_TYPE(type, ...)                                \
  {                                                                          \
    if ((type) == CameraModel::Type::CentralGeneric) {                       \
      typedef CentralGenericModel _##type;                                   \
      __VA_ARGS__;                                                           \
    } else if ((type) == CameraModel::Type::NoncentralGeneric) {             \
      typedef NoncentralGenericModel _##type;                                \
      __VA_ARGS__;                                                           \
    } else if ((type) == CameraModel::Type::CentralRadial) {                 \
      typedef CentralRadialModel _##type;                                    \
      __VA_ARGS__;                                                           \
    } else if ((type) == CameraModel::Type::CentralThinPrismFisheye) {       \
      typedef CentralThinPrismFisheyeModel _##type;                          \
      __VA_ARGS__;                                                           \
    } else if ((type) == CameraModel::Type::CentralOpenCV) {                 \
      typedef CentralOpenCVModel _##type;                                    \
      __VA_ARGS__;                                                           \
    } else {                                                                 \
      LOG(FATAL) << "IDENTIFY_CAMERA_MODEL_TYPE() encountered an invalid type: " << static_cast<int>(type); \
    }                                                                        \
  }

}
